ANNAPOLIS, Md. (AP) - A jury has found a New Jersey detective not guilty in the slaying of a driver during an alleged road-rage incident.

Forty-one-year-old Joseph Walker, an investigator for the Hudson County, New Jersey, prosecutor's office, was found not guilty on all counts on Wednesday in Anne Arundel County Circuit Court. He had been charged with first-degree murder in the death of 36-year-old Joseph Harvey of Landsdowne.

He also had been charged with second-degree murder, voluntary manslaughter and firearms offenses.

Prosecutors say Walker shot Harvey after the two pulled over in Millersville on June 8, 2013 after some traffic jostling. Walker's lawyers have said their client thought he, his wife and three children were in danger when he fired his gun.